1) The processor on the lower left (the big yellow box) is the PIC processor with all connections. "U10"2) The Arduino processor and connections is on the lower right. "U11"3) The connecting header to the Raspberry Pi is on the upper right "P3"

Current builds of avrdude (including the one bundled in the Arduino IDE) support the linuxspi programmer type. The connection between the RPi and the Atmel chip looks to be complete, except for access by the RPi to reset the Arduino. Perhaps this could be patched or jumpered in somehow?

2) What is the pinout for the XBee connector - as in what the do the pins map to on the Arduino, or something else. It would be great to use an XBee as a remote serial monitor. I see looking at the schematic that RX/TX on the XBee are controlled by some kind of multiplexing chip (MC14052BDTR2G).

gpvillamil I think the simplest solution for the existing boards to get the Arduino reset available to the RasPI GPIO would be to take one of the unused pins (like GPIO25) and jumper to the reset pin (pin 5) on the 8-pin header P14, which is near the front of the Spirit board, towards the pan/tilt head. Then, make sure the avrdude.conf file is configured to the proper pin for reset, and it should work. I'm thinking about trying this next weekend.